Commit Graph

44 Commits (18cb9c324f072b38b3819ab18798d06d96dda797)

Author SHA1 Message Date
Wolfgang Hess 79b83b92b2 Make the MotionFilter internal. ()
Also moves it from mapping_3d to mapping since it is used
in both 2D and 3D SLAM.

[RFC=0003](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md)
2017-11-24 14:01:07 +01:00
Wolfgang Hess 055728af93 Rename options for consistency. ()
"scan" is better named "node" if it refers to a node in global SLAM.

"penalty factor" is renamed "weight" for consistency with other similar options.

"scans_per_accumulation" is renamed "num_accumulated_range_data" to match the code and since the accumulated data is not called "scan".
2017-11-17 10:52:22 +01:00
Wolfgang Hess 16d62f45f0 Rename sparse_pose_graph options. ()
The default pose graph configuration is now included as "pose_graph.lua"
and available as POSE_GRAPH.

[RFC=0001](https://github.com/googlecartographer/rfcs/blob/master/text/0001-renaming-sparse-pose-graph.md)
2017-11-16 11:48:25 +01:00
Wolfgang Hess c866707013 Fix the configuration documentation script. ()
Fixes .
Now also includes documentation for one option that was "repeated"
and not "optional".
2017-11-15 14:17:33 +01:00
Holger Rapp e29fc9787a New proto compiler ()
Also change Dockerfiles to build proto3 from HEAD.

PAIR=@cschuet
2017-11-10 11:16:44 +01:00
Holger Rapp 7c31291b2b Add assets used for the Cartographer shirt. () 2017-11-06 10:36:38 +01:00
Wolfgang Hess 978544eca4
Add submap and gravity-aligned frame terminology. () 2017-11-03 13:44:23 +01:00
Damon Kohler 0cd0148577 Update the high level overview and provide a link to a copyable Google Sketch. () 2017-10-20 14:56:29 +02:00
Wolfgang Hess bcd1be92b1 Adds a bit of terminology documentation. ()
Changes code to match the new documentation.
2017-10-17 10:07:54 +02:00
jie 4fca78368d Add Cartographer high level structure diagram to documentation () 2017-09-28 08:27:27 +02:00
Wolfgang Hess a7fe8bd2ab Add filtered point cloud to TrajectoryNode::Data for 2D. () 2017-08-28 11:17:53 +02:00
Christoph Schütte 96b71e227f Add histograms for pose residuals ()
* WIP Add histograms for pose residuals

* Address reviewers comments

* Address more comments.
2017-08-25 11:39:56 +02:00
jie 2fd2e86351 Add fixed frame pose weight into optimization problem options. () 2017-08-24 15:40:48 +02:00
Wolfgang Hess 4d11a226ff Expose low resolution matching scores. ()
This is needed in preparation of adding a low resolution score histogram.
2017-08-23 17:48:49 +02:00
zjwoody 2e53586818 Also check low resolution match for 3D loop closure. ()
Related to .
2017-08-22 17:29:20 +02:00
zjwoody ac693f3e04 Use separate voxel filter options for 3D loop closure. () 2017-08-21 18:01:23 +02:00
Wolfgang Hess 11dbdf91b9 Remove unused code and option for odometry states. () 2017-08-11 17:38:48 +02:00
Holger Rapp 3346474963 Grow the ProbabilityGrid as needed instead of preconfiguring its size. ()
This removes the 'half_length' option.

PAIR=wohe
2017-07-05 14:17:04 +02:00
Wolfgang Hess 54bd81a78b Remove UKF related code and configuration. () 2017-06-30 13:19:13 +02:00
Damon Kohler f765e55ea9 Use multi-res scan matching for loop closures too. ()
Improves loop closure scan matcher refinement.
2017-06-30 09:30:09 +02:00
Wolfgang Hess f88fcec851 Remove the unused OptimizingLocalTrajectoryBuilder. ()
It has not been used for a long time and has to be replaced by
a better implementation.
2017-06-27 15:44:46 +02:00
Wolfgang Hess 2df8bcde61 Remove unused 'imu_gravity_variance' option. () 2017-06-26 13:23:58 +02:00
Holger Rapp ff37b0bb7d Remove output_debug_images. ()
This is now better done by RViz. This also gets rid of the dependency on webp.
2017-06-23 14:53:04 +02:00
Holger Rapp 30de09bee8 Adds Cartographer logos. () 2017-06-14 12:14:08 +02:00
Wolfgang Hess 92f154f561 Also use fixed covariances in 3D SLAM. ()
This follows .
2017-06-01 15:04:07 +02:00
Wolfgang Hess 79dc1f848f Remove 'laser' references from parameter names. ()
Related to .
2017-05-04 15:38:41 +02:00
Juraj Oršulić 28da207c4d Sphinx build fix ()
This was missed in , where uses of absolute CMAKE_BINARY_DIR were
changed to PROJECT_BINARY_DIR.
2017-03-30 16:23:19 +02:00
Wolfgang Hess 4fa190d316 Rename LaserFan to RangeData. ()
LaserFan is misleading since range data can come from
various sensor types.
2017-03-23 14:56:18 +01:00
Wolfgang Hess b2175f0d93 Remove covariance from the 3D Ceres scan matcher. ()
Instead of passing around fake covariances generated by the scan matcher,
we introduce appropriate values where they are needed.
2017-02-08 15:22:28 +01:00
Wolfgang Hess 1f27268664 Add resolution of option types to the documentation script. () 2017-01-10 12:23:10 +01:00
Wolfgang Hess 1c433e6f3a Refactor the documentation update script. () 2017-01-10 10:43:16 +01:00
Wolfgang Hess cd0ebbf536 Add the configuration doc and an update script. () 2016-12-21 16:21:43 +01:00
Damon Kohler 78747eda62 Fix documentation and Docker cache. () 2016-12-09 13:08:43 +01:00
Damon Kohler f6c9f9565f Adds system requirements label. () 2016-10-12 12:52:26 +02:00
Damon Kohler 1b7eb7fad7 Improves documentation. ()
* Adds system requirements.
* References our mailing list.
* Nudges folks toward using ROS.
2016-10-11 16:09:55 +02:00
Damon Kohler 54d4e0a9bb Small documentation fixes. () 2016-10-05 17:27:08 +02:00
Wolfgang Hess 175e9e4aab Add reference to the paper to the documentation. () 2016-09-01 11:46:17 +02:00
Wolfgang Hess e5585c6ace Clean up package.xml and add missing dependencies. ()
Clean up package.xml and add missing dependencies.
2016-08-30 14:48:12 +02:00
Wolfgang Hess 83faf925c0 Improve the Cartographer documentation. ()
Cartographer itself is not the ROS integration component.
Also adds a link to the cartographer_ros repository.
2016-08-29 10:23:27 +02:00
Damon Kohler 0c9f416da8 Fixes display of installation steps. () 2016-08-26 17:34:51 +02:00
Damon Kohler 9a303d0526 Sets up Travis CI. () 2016-08-26 16:34:38 +02:00
Damon Kohler 9134a8967d Moves the bulk of our documentation to Sphinx. () 2016-08-25 15:39:51 +02:00
Damon Kohler 1be7e8e226 Updates authors and description. () 2016-08-23 17:49:42 +02:00
Damon Kohler 6bb6236ebb Renames doc to docs. ()
This now matches the readthedocs.org getting started guide.
2016-08-23 17:22:04 +02:00